Naslov
State and parameter estimation of suspended load using quadrotor onboard sensors

Autori
Prkačin, Vicko ; Palunko, Ivana ; Petrović, Ivan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
2020 International Conference on Unmanned Aircraft Systems (ICUAS) / - Atena : Institute of Electrical and Electronics Engineers (IEEE), 2020, 958-967

ISBN
978-1-7281-4278-4

Skup
2020 International Conference on Unmanned Aircraft Systems (ICUAS 2020)

Mjesto i datum
Atena, Grčka, 01.09.2020. - 04.09.2020

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Micro- and Mini- UAS ; Payloads ; UAS Applications

Sažetak
In this paper, we address the problem of state and parameter estimation of a suspended load using quadrotor onboard sensors. Flying with a suspended load alters the quadrotor flight dynamics, sometimes to a large extent, making it a challenging and hazardous task. Monitoring the state of the suspended load is vital for safe flight operations while parameter estimation decouples the control design from specific parameter-dependent solutions. We take advantage of the fact that the forces and torques the suspended load exerts on the quadrotor can be detected in the aircraft IMU measurements as a low frequency harmonic. Thus, by combining the available measurements and system mass we are able to estimate the state of the suspended load. Since our approach stems from understanding the aircraft-load interaction, we start off by delineating the full system model of the quadrotor with a suspended load. To isolate the natural frequency of the suspended load and determine the length of suspension cable, we employ the Fast Fourier Transform (FFT). The proposed estimation algorithms are validated through extensive numerical simulations and experimentally.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Zrakoplovstvo, raketna i svemirska tehnika

POVEZANOST RADA